COMPENSATION FOR CORE LOSS OF ADAPTIVE FLUX OBSERVER-BASED FIELD-ORIENTED INDUCTION MOTOR DRIVES

Hisao Kubota Kouki Matsuse

Dept. of Electrical Engineering Meiji University Higashimita, Tama-ku, Kawasaki 214 JAPAN

This paper presents a method of improving characteristics of flux observer-based field-oriented induction motor drives by considering core losses. We have proposed two kinds of adaptive flux observers of induction motors. One adaptive scheme identifies stator and rotor resistances which vary with

the motor temperature. The other one identifies the motor Description of Induction Motor

speed for eliminating rotational transducers. These adaptive flux observers were derived from an induction motor model which neglects core losses. In this paper, int1uence of the core losses on the adaptive flux observers and field-oriented induction motor drives is investigated and its compensation method is proposed.

Introduction

The indirect field-oriented control method is widely used for induction motor drives. This method has a disadvantage which is sensitivity to the motor parameter variations. Especially, resistance varies widely with the motor temperature. On the other hand, the direct field-oriented control method is robust against the motor parameter variations, because the measured motor flux is fed back to the reference. The disadvantage of this method is that the installation of a flux sensor is necessary. Therefore, flux estimation from the terminal variables is usually used instead of the flux measurement. However, flux estimation is also sensitive to the motor parameter variations.

To solve these problems, we have proposed a rotor flux observer with stator and rotor resistance adaptive scheme] 1 J.

On the other hand, field-oriented induction motor drives without rotational transducers are required for motor drives in a hostile environment, high speed motor drives, etc. Therefore, we have also proposed a rotor flux observer with speed adaptive schemejz].

These adaptive flux observers were derived from an induction motor model which neglects core losses. In this

paper. influence of the core losses on the adaptive flux observers and induction motor drives is investigated and its compensation method is proposed.

Flux Observer-Based Field-Oriented

Induction Motor Drives

An induction motor can be described by following state equations in the stationary reference frame.

disj-=(All AI21[isl+(Bllvs

dQ¢r A2l A22 ¢rJ 0

= A x + B v"

is = C x

(I) (2)

where is = [ids iqsr : Stator Current r/Jr = [¢dr ¢qrr: Rotor Flux

Vol = [Vds Vqsf : Stator Voltage

All = - (R.J(aLs)+(l-a)/(CHr»)I=arIII

A 12 = M/(aL,Lr){ (I/rr)I-WrJ )=ar12I+ail2J A2l = (M/rr)I=ar211

An = -(l/rr)I+wrJ=ar22I+amJ Bl = 1/(aLs)' = btl

C=[IOJ

I = l ~ ~ J J = l ~ ~Il

M

; Stator and Rotor Resistance

: Stator and Rotor Self Inductance : Mutual Inductance

: Leakage Coefficient, a = l-M2/(LsLr) : Rotor Time Constant, t; = Lr/Rr

: Motor Angular Velocity

Wr

0-7803-0582-5 !92$3.00©1992 IEEE

67

(+) ~ >o-~~

t-)

<1>r

Fig.1 Block Diagram of Direct Field-Oriented Induction Motor Control System

Direct Field-Oriented Induction Motor Drive System

Figure 1 shows a block diagram of a direct field-oriented induction motor drive system. The stator current command is calculated with rotor fluxes as follows.

i;d = i;cos8-i,' sine i~ = i;sin8+i,' cose

(3) (4)

where cose = I/Jdrll/Jr sin e = I/Jqrl I/Jr

I/Jr = ~ I/Jdr I/Jqr

i; : Field Current Command it' : Torque Current Command

The rotor flux is estimated by a rotor flux observer in practice.

Rotor Flux Observer of Induction Motor

The full order state observer which estimates the stator current and the rotor flux together is written by the following equation.

d- -_ A

-x = A x + B vs+G(i,is) dt

(5)

where 1\ means the estimated values and G is the observer gain matrix which is decided so that Eq.(5) can be stable. In this paper, G is calculated by the following equation so that the observer poles are proportional to those of the induction motor (proportional constant bO)[I].

G = [

f,'l

f,'2

f,'3

(6)

-g2 gl

gl = (k-I Xarll+ar22) g2 = (k-l}ai22

g3 = (k 2_1 X carll+ar21}-c{k-1 Xarl1+ar22) g4 = -c{k-l}ai22

g3

(7) (8) (9)

( 10)

where c = (uLsLr)IM

Adaptive Scheme for Stator and Rotor Resistance Identification

The stator resistance and rotor time constant which vary with the motor temperature are identified by the following adaptive scheme[l].

(II)

(12)

where eid~=idrids, eiqs=iq.,iqs

A), A2 : arbitrary positive gain.

The parameters are updated only in a powering operation.

Figure 3 is experimental results of the parameter identification. Ratings of a tested induction motor are shown in Table 1. Then, the load torque is proportional to the motor speed. The initial values of the stator and rotor resistance in the controller are 1.5 times as much as the nominal ones, and the torque command is constant at 10(Nm). Arbitrary constants k, A), and A2 arc 1.0, 0.01, and 0.1, respectively. The estimated parameters converge to constant values in a few seconds.

V~'~r-----~C=~ln~d~u~c~tio~n~M~o~to~r==J--------li,

0,

Fig.2 Block Diagram of Adaptive Flux Observer

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50rpm/di'

: [=~~"~~~~~~~_.'_'.r

2:

o - -~-.~~-~

c O.2Q/div

.~~ R,

-o ~ i -----~ ~ _

8c:::

'" ~

.§ ~

~V)

l.Oscc/div

Fig.3 Experimental Results of Parameter Identification

Table I Ratings of Tested Induction Motor

200V, 50Hz,

3.7kW, 4poles,

15A

I 420rpm

Adaptive Scheme for Speed Estimation

In order to eliminate rotational transducers, the motor speed is estimated by the following adaptive scheme[2].

(13)

where e;a,=id.,-ids, eiqs=iq,iqs

K», KJ : arbitrary positive gain.

Figure 4 shows experimental results of the forward-reverse operation under the no-load condition with the following adaptive gains.

(14)

'1 OCrpm/d 1 v

!

1 1 w; -, /'--

~o~.

~ - ro,

OOmseC/dlV

SA/dl'!

~ °P··1N\MI~N~ai'

FigA Experimental Results of Forward-reverse Operation without Rotational Transducers

Influence of Core Loss

The proposed adaptive flux observers were derived from the induction motor model which neglects core losses. In this section, influence of the core loss is investigated. The core loss is taken into account by the eddy current loops (de, qe) as shown in Fig.5[3].

Figure 6 shows the frequency characteristics of the core loss resistance. These results were obtained by a synchronous speed test. The tested induction motor was driven by a coupled de motor.

Fig.5

Induction Motor Model taking Core Loss into Account

69

2.0

1.5

§:

E 1.0 a:

0.5

o

10 20 30 40 frequency(Hz)

50

60

Fig.6 Frequency Characteristics of Core Loss Resistance

The dotted lines in Fig.7 show the ratio of the actual torque to the reference. The core loss affects the torque control significantly. Figure 8 shows the influence of the core loss on the parameter identification. The influence on the rotor resistance identification is significant. The dotted lines in Fig.9 show the ratio of the estimated motor speed to the actual one. Although the relative speed estimation error is significant in a low speed region. the absolute error is about 2[rpmj and is not so significant.

Com~ensation for Core Loss

An induction motor is described by the following equation taking the core loss into consideration.

[vs1_[ ZII

o - Z21

o Z31

Z12 ZI3' [ is

Z22 Z23 J ~r

Z32 Z33 t;

(15)

where

ir = [idr iqrY : Rotor Current

ie = [ide iqef : Eddy Current

Zll = (Rs+PLs)I Z 12 = PMI Z IJ = PMI

Z21 = PMI - wrMJ Zn = (Rr+PLr)I - wrLrJ

Z23 = PMI - wrMJ Z31 = PMI Z32 = PMI

ZJ3 = (Re+PLe)I

Re: Resistance of eddy current circuit

Le: Self inductance of eddy current circuit P:d/dt

It is too complex to realize a 6th order observer based on (15). Therefore, we propose a simplified compensation method for thc core loss.

In the steady state, (15) becomes (16) eliminating ide and

l Vs 1 {r RsI+wLsJ WMJ] fI I]} lis J

o = L .lCnM J RrI+swLrJ + Rml sI sI i,

(16)

where Rm: Core Loss Resistance, s:slip

Equation (16) becomes (17) using the rotor flux instead of the rotor current.

(17)

where

Till = RsI+wO'LsJ TIl2 = wMJILr TI21 = (Rs-Rr)MI+wO'ML,J

T122 = RrI+W(M2+sL;)JILr T2l1 = (L,-M)I/Lr

T212 = IILr T22I = (L,-M)(M+sLr)I/Lr

T222 = (M+sLr)I/Lr

The second term of (17) can be approximated as follows.

&J I ]¢

Lrl (M+sLr)I r

(18)

From (18), the state equation of an induction motor taking the core loss into account approximately becomes as follows.

Ax = A x + B v s + D I/Jr dt

(19)

where

r -u: - s M) II (0' i, L;) l

D = Rm

- s II L,

Therefore, the state observer of an induction motor can be expressed by the following equation.

A; = i ;- + B vs+G (is-i,) + D ¢r dt

(20)

The solid lines in Figs.7,S, and 9 show results for the flux observer taking the core loss into account. The states and parameters can be estimated precisely by the compensation of the core loss.

Conclusion

In this paper, influence of the core loss on the adaptive flux observers and field-oriented induction motor drives has been investigated. We have found that the influence on the torque control and the rotor resistance identification is significant. In order to compensate the influence, we have proposed the new flux observer taking the core loss into

70

account approximately. The validity of the proposed method has been verified by the simulation.

References

[IJ H.Kubota, K.Matsuse, and T.Nakano, "New adaptive nux observer of induction motor for wide speed range motor drives," in Conf. Rec. of IEEE IECON'90, pp.921-926

[2] H.Kubota, K.Matsuse, and T.Nakano, "DSP-based speed adaptive flux observer of induction motor," in Conf. Rec. of 1991 IEEE lAS Annual Meeting, pp.380-384

[3] T.Mizuno I.Takayama, T.lchioka, and M.Terashima, "Decoupling Control Method of Induction Motors Taking Stator Core Loss Into Consideration" in Conf. Rec. IPEC Tokyo '90, pp.69-74

1.1

1Jo---IJo---g---O--1iI

t---tu-,u-e-=

.. ::I

~

iii ::I

~ 1.0

0.9 --IJ.- 100rpm without Compensation
--0-- 25rpm
- 100rpm with Compensation
--+- 25rpm
08
0 10 20 30 load Torque [Nm)

(a) Stator Resistance

~ ~ ~

~ 1e

~

~

~

~ 09 Is

'0

g;

'C

$

.§ 0.8+-_~ __ T"'"" r-- .....,

7ii 0 10 20 30

w

1.1
..
:::I
C'
~
~ 1.0
~
I!!
..
Gi
a:
..
g. 0.9
Is
~
iii
:::I
()
C(
0.8
0 --0-' 100rpm without Compensation
--0-' 25rpm
- 100rpm with Compensation
- 25rpm
1= • • • • 10 20

load Torque [Nm)

30

Fig.7 Influence of Core Loss on Torque (with Speed Sensor. without Adaptive Scheme)

1.1

--0-

--0-

----

~

100rpm 25rpm 100rpm 25rpm

without Compensation with Compensation

•

•

•

•

•

load Torque [Nm]

(b) Rotor Resistance

Fig.8 Influence of Core Loss on Parameter Idenrification (with Speed Sensor, with Parameter Adaptive Scheme)

1.1
'C
l
Ul
iii 1.0
::J
()
c:
I
Ul 0.9
'C
~
E
i;
w
0.8
0 --0--

--0--

----

_._

100rpm without Compensation 25rpm

1 OOrpm with Compensation 25rpm

:::

0-- --c>- -- -0 -- - -0- --0

20

30

10

load Torque [Nm]

Fig.9 Influence of Core Loss on Speed Estimation (without Speed Sensor, with Speed Adaptive Scheme)

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